6.1.2        Alarms Description

If teaching or saving point is incorrect, for example, Dobot M1 moves to where a point is at a limited position or a singular position, Dobot M1 will generate an alarm. For details, please see Table 6.2. When an alarm is generated, the red LED indicator on the base will be on.

NOTICE

Ÿ   Singular point: If the directions of the joint1 and joint2 are collinear, the resultant velocity of joint1 and joint2 is not in any direction, but in the direction of joint1 (joint2). Namely, the degrees of freedom of Dobot M1 are degraded. The singular point is at the position where joint2 is located at ±10°. In JUMP and MOVJ mode, the movement of Dobot M1 is joint movement, Dobot M1 will not generate an alarm about singular point.

Ÿ   Generally, if you save a point where an alarm is generated when implementing jogging, the saved point is unavailable. You need to jog Dobot M1 towards the opposite direction under the Joint coordinate system to clear the alarm, and then save the point. However, if an alarm about singular point is generated when implementing jogging, the saved point is available in JUMP and MOVJ mode.

Ÿ   In MOVJ or JUMP mode, if the two points are the same, only different in arm orientations, J1 or J4 may be limited when moving Dobot M1, resulting in an alarm generated. You need to modify and resave the point for which the alarm is generated, and then clear the alarm manually.

 

Table 6.2  Alarm Description

Alarm Condition

Clear method

Jogging

The Joint coordinate is limited

Jog the limited Joint coordinate towards the opposite direction, and the alarm will be automatically cleared

The Cartesian coordinate is limited

Jog Joint coordinate towards the opposite direction, and the alarm will be automatically cleared

The point is at the singular position when clicking the Cartesian coordinate buttons

Jog joint2, and the alarm will be automatically cleared

Playback

The starting point or the end point is a singular point in MOVL mode

Clear the alarm manually and modify the point

A point in the trajectory is a singular point in MOVL mode

Clear the alarm manually and modify the point

Modify the arm orientation of the saved point in MOVL mode

Clear the alarm manually and modify the arm orientation

The middle point or the end point is a singular point in ARC mode

Clear the alarm manually and modify the point

A point in the trajectory is a singular point in ARC mode

Clear the alarm manually and modify the point

Any two of the three points of the arc are coincided in ARC mode

Clear the alarm manually and modify the point

The three points of the arc are in a line in ARC mode

Clear the alarm manually and modify the point

The trajectory is out of range of the workspace in all modes

Clear the alarm manually and modify the point

The joint is limited in all modes

Clear the alarm manually and modify the point

The method how to clear the alarm is shown as follows.

Prerequisites

Ÿ   Dobot M1 has been powered on.

Ÿ   Dobot M1 has been connected to the PC successfully.

Ÿ   Dobot M1 has been connected to the emergency stop switch.

Procedure

Step 1         Double-click the alarm tip on the M1Studio page, as shown in Figure 6.1.

The Alarm Log is displayed.

Figure 6.1 Alarm tips

 

Step 2         View the corresponding alarm on the Dobot Alarm tab. According to Measure to clear the alarm, as shown in Figure 6.2.

Figure 6.2  Alarm GUI

 

NOTICE

The button Reboot is available only when the alarm is generated about emergency stop.

 

Table 6.3 shows the description of the alarm button.

Table 6.3  Alarm button description

Button

Description

History

Whether to display the historical alarms.

Ÿ   If the status of History is , all historical alarms will be displayed.

Ÿ   If the status of History is , only the current alarm will be displayed.

AutoScroll

Whether to scroll the alarm information automatically

If the status of AutoScroll is , the alarm information will be scrolled automatically

 

Step 3         Click Clear Alarm on the bottom pane of the Dobot M1 Alarm tab, as shown in Figure 6.2.

If there are no alarm tips on the M1Studio page, the alarm have been cleared.














 Issue V1.2.1 (2019-04-10)User GuideCopyright © Yuejiang Technology Co., Ltd